Design and control of flexure jointed hexapods

By combining static input–output decoupling transformations with hexapod geometric design, the highly coupled dynamics of a flexure jointed hexapod can be decoupled. Several algorithms have been proposed which result in different sets of decoupled inputs and outputs, and which can use a variety of feedback measurements (position, velocity, acceleration, or force in either joint or Cartesian spaces). Three hexapod configurations satisfying the geometry requirements have been proposed. Experimental results indicate that the approach is practical and yields superior performance.